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Ardupilot testing

Posted by Jason Short on February 13, 2010 at 3:23pm
Hi all,

Testing Ardupilot 2.5 from Jason Short on Vimeo.



Here's a video of testing today. I had a flawless run of the T3 round two course. Everything was looking good. I'll post the code today on the repository.

Some flight notes. I completely remove the I term (by setting it to zero) for Roll and Pitch which helped tremendously. I went from highly unstable turns to nice smooth ones.

Altitude hold seems to have a slight oscillation for me. You can here the motor go up and down as the plane pitches up and down slightly. Any thoughts for dampening this out?

I reduced the loiter radius to 20 meters which the plane doesn't like. It tends to do figure eights around the home position. I'll increase that to 30 next time.

I'll post the code tonight.
Jason
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Comments

  • Developer
    Jason Short March 4, 2010 at 2:15pm
    Great. I'll be back today (Friday) and test the full version withe the other bug fixes and post them.
  • John C. March 4, 2010 at 2:00pm
    Yep, that fixed it...thanks!
  • Developer
    Jason Short March 3, 2010 at 2:05pm
    Hey John,
    I have a fix for that. It appears different versions of uBlox ouptut slightly differently. I am traveling in Korea for work right now and I can't give you a complete fix, but I think if you change this case in the ublox parser to the following it will fix the issue.

                    case 0x03://ID NAV-STATUS                                               if((UBX_buffer[4] >= 0x03) && (UBX_buffer[5] & 0x01)){
    
                                GPS_fix = VALID_GPS; //valid position
    
                                print_telemetry = true;
    
                                
    
                                digitalWrite(12,HIGH);
    
                        } else {
    
                                GPS_update = GPS_NONE;
    
                                GPS_fix = BAD_GPS; //invalid position
    
                                digitalWrite(12,LOW);
    
                        }
    
                        break;
  • John C. March 3, 2010 at 1:52pm
    I just noticed that you turned off the full lat/long reporting when in autopilot mode.

    I added the TOW to my serial output, but didn't realize it output differently in autopilot mode.

    I took a look through the code a bit, and can't seem to find where AUTO only prints attitude instead of position and attitude.

    See log file....thanks!

    JC

    udall_3_3_10.txt
    https://storage.ning.com/topology/rest/1.0/file/get/3692014704?profile=original
  • Developer
    Jason Short February 20, 2010 at 6:48pm
    Hi Graham,
    I think I found your bug. Check your mail for the fix. I'll post it as soon as I can get regular internet access.
    Jason
  • Developer
    Jason Short February 20, 2010 at 11:11am
    Lately I've been using the waypoint writer. Can you send me the full output in a zip file an your header file? Also try and run the mission in debug mode and send me that as well. Thanks.
  • Moderator
    Graham Dyer February 20, 2010 at 1:40am
    I'm having some issues with navigation again, it worked for one flight and hasn't worked again. My serial output is:
    wp_total 2
    options 1000
    wp_radius 10
    Startup: Air
    Loaded WP index:0
    prev_WP: 0 0 0
    next_WP: -261518750 279787450 8000
    home: -261518750 279787450 4000
    wp #1 -261508920 279780360 4000
    wp #2 -261525580 279775210 4000
    !!!LAT:-26109882,LON:28008905,SPD:0,CRT:-100,ALT:240,ALH:80,CRS:0,BER:0,WPN:0,DST:0,BTV:0,RSP:0,***

    Problem is these: (CRS:0,BER:0,WPN:0,DST:0) are all zero, they should indicate the status to the next waypoint and I can't figure out why they aren't working

    Jason, are you using the config tool to enter your waypoints?
  • Developer
    Jason Short February 19, 2010 at 1:32pm
    That's the one.
    Jason
  • John C. February 19, 2010 at 10:50am
    Is this the right SVN URL to get the latest code?

    http://ardupilot.googlecode.com/svn/branches/Ardupilot_25
  • Developer
    Jason Short February 19, 2010 at 8:13am
    Oh that should be:
    byte startup_check(void){
    Corrected on the SVN now.
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